Publications

@article{huang_design_2021,

title = {Design and Evaluation of a Foot-Controlled Robotic System for Endoscopic Surgery},

author = { Yanpei Huang and Wenjie Lai and Lin Cao and Etienne Burdet and Soo Jay Phee},

url = {https://ieeexplore.ieee.org/document/9362198/},

doi = {10.1109/LRA.2021.3062009},

issn = {2377-3766},

year  = {2021},

date = {2021-04-01},

urldate = {2022-06-02},

journal = {IEEE Robotics and Automation Letters},

volume = {6},

number = {2},

pages = {2469–2476},

abstract = {In traditional endoscopic surgery, the surgeon manipulating the endoscopic instruments is supported by an assistant controlling the endoscope, where their coordination may be affected by communication errors. To address this issue, we introduce a foot interface controlled robotic endoscopic system, enabling the surgeon to simultaneously operate the endoscope and instruments. The system consists of a foot interface using four degrees of freedom (DoFs) foot gestures and a robotic driving system for a commercial flexible endoscope. The proposed robotic system was validated in teleoperation experiments performed by ten subjects, where foot teleoperation was compared with hand teleoperation and direct control of the endoscope with two hands. The participants could successfully teleoperate the endoscope with foot teleoperation and exhibited 40% faster task completion as with direct control. They found both foot and hand teleoperations comfortable and intuitive. Although hand teleoperation enabled the best performance, only foot teleoperation allows simultaneous control of three instruments.},

note = {Conference Name: IEEE Robotics and Automation Letters},

keywords = {Bending, Endoscope manipulation, Endoscopes, Foot, foot control, Instruments, Robot kinematics, robot-assisted surgery, Robots, Surgery, teleoperation},

pubstate = {published},

tppubtype = {article}

}

@article{huang_novel_2021,

title = {A Novel Training and Collaboration Integrated Framework for Human-Agent Teleoperation},

author = { Zebin Huang and Ziwei Wang and Weibang Bai and Yanpei Huang and Lichao Sun and Bo Xiao and Eric M. Yeatman},

url = {https://www.mdpi.com/1424-8220/21/24/8341},

doi = {10.3390/s21248341},

issn = {1424-8220},

year  = {2021},

date = {2021-01-01},

urldate = {2021-01-01},

journal = {Sensors},

volume = {21},

number = {24},

abstract = {Human operators have the trend of increasing physical and mental workloads when performing teleoperation tasks in uncertain and dynamic environments. In addition, their performances are influenced by subjective factors, potentially leading to operational errors or task failure. Although agent-based methods offer a promising solution to the above problems, the human experience and intelligence are necessary for teleoperation scenarios. In this paper, a truncated quantile critics reinforcement learning-based integrated framework is proposed for human-agent teleoperation that encompasses training, assessment and agent-based arbitration. The proposed framework allows for an expert training agent, a bilateral training and cooperation process to realize the co-optimization of agent and human. It can provide efficient and quantifiable training feedback. Experiments have been conducted to train subjects with the developed algorithm. The performances of human-human and human-agent cooperation modes are also compared. The results have shown that subjects can complete the tasks of reaching and picking and placing with the assistance of an agent in a shorter operational time, with a higher success rate and less workload than human-human cooperation.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{8950414,

title = {A Subject-Specific Four-Degree-of-Freedom Foot Interface to Control a Surgical Robot},

author = { Yanpei Huang and Etienne Burdet and Lin Cao and Phuoc Thien Phan and Anthony Meng Huat Tiong and Soo Jay Phee},

doi = {10.1109/TMECH.2020.2964295},

year  = {2020},

date = {2020-01-01},

journal = {IEEE/ASME Transactions on Mechatronics},

volume = {25},

number = {2},

pages = {951-963},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{9235524,

title = {Tri-Manipulation: An Evaluation of Human Performance in 3-Handed Teleoperation},

author = { Yanpei Huang and Jonathan Eden and Lin Cao and Etienne Burdet and Soo Jay Phee},

doi = {10.1109/TMRB.2020.3033137},

year  = {2020},

date = {2020-01-01},

journal = {IEEE Transactions on Medical Robotics and Bionics},

volume = {2},

number = {4},

pages = {545-548},

keywords = {},

pubstate = {published},

tppubtype = {article}

}